头盔伺服系统执行机构的动力学建模及其验证

摘要/Abstract

摘要：

首先对头盔伺服系统的执行机构——6URHS并联机构进行了运动学分析，建立了丝杠运动状态、螺母运动状态与动平台运动状态间的关系式;其次，采用牛顿-欧拉法对驱动分支及其构件进行了动力学分析，建立了驱动分支整体和包括螺母在内的部分构件的牛顿与欧拉方程，考虑了螺旋副摩擦力的影响，推导完成了封闭式的6URHS并联机构动力学方程;最后，采用MATLAB分别建立了6URHS并联机构的动力学模型和Simulink虚拟样机，对两者进行了动力学响应对比实验。实验结果表明：对于同一组驱动力矩输入，动力学模型与虚拟样机的动力学响应基本一致，动力学模型同虚拟样机的准确度相仿。另外，还进行了动力学仿真程序的轨迹跟踪实验，对驱动力矩进行了计算与分析。

关键词: 并联机构, 动力学模型, 牛顿-欧拉法, Stewart平台

Abstract:

Firstly,kinematic analysis for a manipulator of helmet mounted display with 6-DOF parallel manipulator was developed, and the kinematic relationship among lead screw, nut and platform was derived. Secondly, dynamics analysis of leg was carried out using Newton-Euler method, and the Newton-Euler equations of whole leg and corresponding parts including nut were built respectively considering friction at helix joint, and then a closed-form dynamics equation of 6URHS parallel manipulator was established. Finally, prototype, dynamics models of 6URHS were built respectively by Simulink, and some comparison tests about dynamic response were developed.The results of comparison tests show that the veracity of the dynamics models of 6URHS is as the same as the prototype. Additionally, trajectory tracking simulation was also implemented, and computation and analysis of driving torque were developed.

Key words: parallel manipulator, dynamics model, Newton-Euler method, Stewart platform

中图分类号:

TH113

李鹏, 顾宏斌, 吴东苏. 头盔伺服系统执行机构的动力学建模及其验证[J]. 中国机械工程, 2013, 24(09): 1201-1209.

LI Feng, GU Hong-Bin, TUN Dong-Su. Dynamics Model of Helmet Mounted Display with a 6-DOF Parallel Manipulator and Corresponding Verification[J]. China Mechanical Engineering, 2013, 24(09): 1201-1209.

参考文献

[1]李鹏, 顾宏斌, 吴东苏. 基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法[J]. 航空学报, 2011, 32(4): 739-750.
Li Peng, Gu Hongbin, Wu Dongsu.Dimensional Design and Corresponding Methodology for Helmet Mounted Display with 6-DOF Parallel Manipulator Based on Requirements of Head Motion[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(4): 739-750.
[2]赵新华, 李彬. 6-SPS并联机器人机构误差综合[J]. 中国机械工程, 2009, 18(20): 2223-2226.
Zhao Xinhua, Li Bin. Error Synthesis of 6-SPS Parallel Manipulator[J].China Mechanical Engineering, 2009, 18(20): 2223-2226.
[3]Merlet J P. Parallel Robots[M]. 2nded. The Netherlands: Springer, 2006.
[4]车林仙, 何兵, 程志红. 6-CRS并联机器人机构及其位置分析[J]. 中国机械工程, 2010, 21(14): 1669-1675.
Che Linxian,He Bing,Cheng Zhihong.A 6-CRS Parallel Manipulator and Its Positional Analysis[J].China Mechanical Engineering, 2010, 21(14): 1669-1675.
[5]Wu JianXin, Yang Xiaojun. Dynamic Analysis and Optimization of Parallel Manipulator[C]//IEEE Computer Society. 2009 International Conference on Artificial Intelligence and Computational Intelligence. Shanghai: IEEE, 2009: 199-203.
[6]Wang Jinsong, Wu Jun, Wang Liping, et al. Simplified Strategy of the Dynamic Model of a 6-UPS Parallel Kinematic Machine for Real-Time Control[J]. Mechanism and Machine Theory, 2007, 42: 1119-1140.
[7]杨宇. 飞行模拟器动感模拟关键技术研究[D]. 哈尔滨: 哈尔滨工业大学, 2010.
[8]延皓. 基于液压六自由度平台的空间对接半物理仿真系统研究[D]. 哈尔滨: 哈尔滨工业大学, 2007.
[9]Khalifa H, Harib M S. DynamicModeling, Identification and Control of Stewart Platform-based Machine Tools[D]. Ohio:The Ohio State University，1997.
[10]傅绍文, 姚郁, 王晓晨. 电动Stewart仿真平台动力学建模与惯性参数辨识[J]. 系统仿真学报, 2007, 19(9): 1909-1912.
Fu Shaowen,Yao Yu, Wang Xiaochen. Dynamic Model and Inertia Parameters Identification of Electrical Stewart Platform Simulator[J]. Journal of System Simulation, 2007, 19(9): 1909-1912.
[11]吴培栋. Stewart平台的运动学与逆动力学的基础研究[D]. 武汉: 华中科技大学, 2008.
[12]杨宇, 郑淑涛, 韩俊伟. 基于动力学的Stewart平台振动控制策略研究[J]. 农业机械学报, 2010, 41(6): 20-24.
Yang Yu, Zheng Shutao, Han Junwei. Stewart Platform Vibration Control Strategy Based on Dynamics[J]. Transactions of the Chinese Society for Agricultural Machinery, 2010, 41(6): 20-24.
[13]Gallardo J, Rico J M, Frisoli A, et al. Dynamic of Parallel Manipulators by Means of Screw Theory[J]. Mechanism and Machine Theory, 2003, 38: 1113-1131.
[14]刘国军, 郑淑涛, 韩俊伟. Gough-Stewart平台通用动力学反解分析[J]. 华南理工大学学报, 2011, 39(4): 70-75.
Liu Guojun, Zheng Shutao, Han Junwei. General Inverse Dynamic Analysis of Gough-Stewart Platform[J]. Journal of South China University of Technology, 2011, 39(4): 70-75.
[15]杨灏泉, 吴盛林, 曹健, 等. 考虑驱动分支惯量影响的Stewart平台动力学研究[J]. 中国机械工程, 2002, 13(12): 1009-1012.
Yang Haoquan, Wu Shenglin, Cao Jian, et al. Study on Dynamics for Stewart Platform Involving Effect of Driving Legs Inertia[J]. China Mechanical Engineering, 2002, 13(12): 1009-1012.
[16]Wang Yao. Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator[D]. New York: State University of New York, 2008.
[17]Vahid-Araghi O, Golnaraghi F. Friction-Induced Vibration in Lead Screw Drives[M]. New York: Springer, 2011.